Navigation system and method for tracking objects using optical and non-optical sensors

• US 10,575,906 B2
• Filed: 05/19/2017
• Issued: 03/03/2020
• Est. Priority Date: 09/26/2012
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: Wu, Chunwu
• Primary Examiner(s): Lamprecht, Joel
• Application Number:
  US15/599,935
• Publication Number:
  US 20170252111A1
• Time in Patent Office: 1,019 Days
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2053 Tracking an applied voltage gradient
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: Y10S 901/47 Optical

Abstract

Systems and methods that utilize optical sensors and non-optical sensors to determine the position and/or orientation of objects. A navigation system includes an optical sensor for receiving optical signals from markers and a non-optical sensor, such as a gyroscope, for generating non-optical data. A navigation computer determines positions and/or orientations of objects based on optical and non-optical data.

Claims

1. A navigation system comprising:

a localizer;

a tracker for communicating with said localizer and including three markers and a non-optical sensor; and

a computing system having at least one processor configured to;

determine positions of each of said markers based on optical and non-optical signals,

determine if one or more of said markers is blocked from line-of-sight with said localizer to create a blocked condition,

track a time of the blocked condition,

determine a position error tolerance associated with the one or more blocked markers,

determine a position error associated with the one or more blocked markers based on the time of the blocked condition,

determine if the position error is within the position error tolerance, and

place the navigation system in an error condition if the position error exceeds the position error tolerance.

2. The navigation system of claim 1, comprising a second non-optical sensor in communication with said at least one processor to measure acceleration of said tracker during the blocked condition.

3. The navigation system of claim 2, wherein said at least one processor is configured to place the navigation system in the error condition if the acceleration measured by said second non-optical sensor exceeds a predefined acceleration tolerance.

4. The navigation system of claim 1, wherein said at least one processor is configured to determine a velocity error associated with the one or more blocked markers during the blocked condition.

5. The navigation system of claim 4, wherein the velocity error varies with distance of the one or more blocked markers from said localizer.

6. The navigation system of claim 4, wherein said at least one processor is configured to calculate the position error as a product of the velocity error and the time of the blocked condition, wherein the position error varies as a function of the velocity error and the time of the blocked condition.

7. The navigation system of claim 1, wherein the position error tolerance ranges from 0.001 to 1.0 millimeters.

8. A method of tracking an object using a navigation system comprising a localizer, a tracker including three markers and a non-optical sensor, and a computing system having at least one processor, said method comprising the steps of:

determining positions of each of the markers based on optical and non-optical signals;

determining if one or more of the markers is blocked from line-of-sight with the localizer to create a blocked condition;

tracking a time of the blocked condition;

determining a position error tolerance associated with the one or more blocked markers;

determining a position error associated with the one or more blocked markers based on the time of the blocked condition;

determining if the position error is within the position error tolerance; and

placing the navigation system in an error condition if the position error exceeds the position error tolerance.

9. The method of claim 8, comprising measuring acceleration of the tracker during the blocked condition.

10. The method of claim 9, comprising placing the navigation system in the error condition if the measured acceleration exceeds a predefined acceleration tolerance.

11. The method of claim 8, wherein determining the position error comprises determining a velocity error associated with the one or more blocked markers during the blocked condition.

12. The method of claim 11, wherein the velocity error varies with distance of the one or more blocked markers from the localizer.

13. The method of claim 11, wherein determining the position error comprises calculating the position error as a product of the velocity error and the time of the blocked condition, wherein the position error varies as a function of the velocity error and the time of the blocked condition.

14. The method of claim 8, wherein the position error tolerance ranges from 0.001 to 1.0 millimeters.